Hello,
I would like to switch on or off parameters such as publish_odom_tf .. to true and false, from an argument or parameter given at launch time.
Consider the part:
<plugin name="robot_diff_drive" filename="libgazebo_ros_diff_drive.so">
<ros>
<!-- <namespace></namespace> -->
</ros>
<update_rate>30</update_rate>
<left_joint>wheel_left_joint</left_joint>
<right_joint>wheel_right_joint</right_joint>
<wheel_separation>0.184</wheel_separation>
<wheel_diameter>0.0685</wheel_diameter>
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<command_topic>cmd_vel</command_topic>
<publish_odom>true</publish_odom>
<publish_odom_tf>false</publish_odom_tf>
<publish_wheel_tf>false</publish_wheel_tf>
<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<odometry_source>0</odometry_source> <!-- 0: encoder, 1: world -->
<covariance_x>0.01</covariance_x>
<covariance_y>0.0</covariance_y>
<covariance_yaw>0.1</covariance_yaw>
<robot_base_frame>base_footprint</robot_base_frame>
</plugin>
I am using <sdf version="1.5"> and I have not been able to find a way to pass parameters to sdf. Any ideas?
Best Regards, C.
